Rope traction guiding system of rope traction parallel robot and parallel robot

Abstract

The invention discloses a rope traction guiding system of a rope traction parallel robot and the parallel robot. The rope traction guiding system comprises a rope traction mechanism (1) and a rope guiding mechanism (2). The rope traction mechanism (1) comprises a winding drum (102) and a rotating lead screw (103) which rotate synchronously; the winding drum (102) rotates and the rope (4) is synchronously wound and unwound; meanwhile, the rope traction mechanism (1) is provided with a pressure sensor (108) for measuring the rope force of the rope (4); the rope guiding mechanism (2) is fixed to a rack of the parallel robot through the modularized guiding base (3) and used for bearing a rope (4) of the rope traction mechanism (1) and guiding and controlling the parallel robot to work. And meanwhile, a guide measuring device is arranged to measure the length change of the rope (4). The rope traction parallel robot adopts a modular structure, is easy to install and exchange, and can measure the stress, the length and the rope outlet angle of the rope, so that the rope traction parallel robot can complete more accurate operation tasks.

Description

Technical Field

[0001] The present invention relates to the field of mechanical structure technology, in particular to the field of parallel robots, and specifically to a rope traction guide system of a rope-traction parallel robot which can be quickly modularly installed and has the functions of measuring rope length, rope outlet angle and rope force, and a parallel robot. Background Art

[0002] The rope-pulled parallel robot is a robot whose end effector is driven by multiple ropes. The rope-pulled parallel robot has the characteristics of strong load capacity, small motion inertia and large workspace, and is widely used in large equipment lifting, aviation simulation support system and logistics warehousing.

[0003] The rope index extraction point of the rope-pulled parallel robot is fixed on the structural frame, which can also be called a fixed-structure rope-pulled parallel robot; the fixed rope-pulled parallel robot changes the position and posture of the space moving platform by controlling the rope length in the workspace, thereby completing various complex tasks; with the expansion of the size of the rope-pulled parallel robot and the diversification of its application scenarios, the parallel robot needs to change its configuration quickly, change the workspace and increase its rigidity, and complete more complex operation tasks. In the process of assembly, debugging and use, it needs to be able to be quickly disassembled and modularly installed, and it is also necessary to master the status of the robot, which requires measuring the robot's motion parameters.

[0004] As the size of rope-pulled robots increases, the requirements for rope guidance systems are increasing. Large-sized rope-pulled parallel robots often need to add additional measurement units and require the rope indexing position to be adapted according to task requirements. At the same time, any rope indexing position is required to have smooth rope guidance capabilities. At the same time, in large-sized rope-pulled parallel robots, compared with small-sized rope-pulled parallel robots, the rope indexing structure becomes an important structure that affects the performance of the rope-pulled parallel robot. It significantly complicates the kinematics and dynamics of the rope-pulled parallel robot and affects the measurement of the motion parameters of the rope-pulled parallel robot. The complexity of its structure makes the installation position relatively fixed, and it is difficult to change the configuration of the rope-pulled parallel robot.

[0005] Therefore, how to reasonably design the rope index extraction structure of the rope-pulled parallel robot so that it is easy to install and replace, can effectively transmit the rope length and rope force, and reduce its influence on the kinematics and dynamics of the rope-pulled parallel robot is a problem that needs to be solved urgently.

[0006] In view of this, the present invention is proposed. Summary of the invention

[0007] The purpose of the present invention is to provide a rope-pulling guiding system and a parallel robot of a rope-pulling parallel robot, which adopt a modular structure and are easy to install and replace. At the same time, the rope force, length and rope output angle can be measured, so that the rope-pulling parallel robot can complete more precise operation tasks.

[0008] The objective of the present invention is achieved through the following technical solutions:

[0009] A rope pulling and guiding system of a rope pulling parallel robot comprises a rope pulling mechanism 1 and a rope guiding mechanism 2; the rope pulling mechanism 1 comprises a driving device, a pulling support 101, a drum 102, a rotating lead screw 103 and a lead screw slider 104; the pulling support 101 is fixed on the frame of the parallel robot, the drum 102 and the rotating lead screw 103 are installed in the pulling support 101 in parallel with their axes, and the driving device drives the drum 102 and the rotating lead screw 103 to rotate synchronously; when the drum 102 rotates one circle, the lead screw slider 104 moves synchronously along the axial direction of the rotating lead screw 103 and the retracting and releasing direction of the rope 4 by a distance equal to the center distance of adjacent sections of the rope 4 wound on the drum 102;

[0010] The screw slider 104 is installed with a drum pulley 107 through a swing arm 106, and the rope 4 wound on the drum 102 is guided to the rope guide mechanism 2 through the drum pulley 107; and a pressure sensor 108 for measuring the rope force of the rope 4 is provided between the screw slider 104 and the swing arm 106;

[0011] The rope guiding mechanism 2 is fixed on the frame of the parallel robot through a modular guiding base 3, receives the rope 4 of the rope traction mechanism 1, and guides and controls the operation of the parallel robot; at the same time, a guiding measuring device is provided to measure the length of the rope 4 and the change of the rope output angle.

[0012] Preferably, the rope traction mechanism 1 further includes a synchronization device 109, which is installed between the drum 102 and the rotating screw 103 to achieve synchronous rotation of the drum 102 and the rotating screw 103;

[0013] The transmission ratio i between the reel 102 and the rotating screw 103 is: i=p / d;

[0014] p: pitch of the rotating screw 103; d: center distance between adjacent sections of rope 4 on the drum 102.

[0015] Preferably, the middle part of the swing arm 106 is hinged to the outer end of the lead screw slider 104, and a drum pulley 107 is installed at the lower end. The rope 4 led out from the drum 102 is introduced into the drum pulley 107 along the vertical direction and bypasses the drum pulley 107 and is led out along the horizontal tangential direction parallel to the axis of the drum 102.

[0016] A pressure sensor 108 is installed between the upper end of the swing arm 106 and the lead screw slider 104 to measure the rope tension of the rope 4.

[0017] Preferably, the rope traction mechanism 1 also includes two guide shafts 110, which are symmetrically installed on the traction supports 101 on both sides of the rotating screw 103 with their axes parallel to the rotating screw 103. The screw slider 104 is provided with two guide holes 1041, and the guide shafts 110 cooperate with the guide holes 1041 to guide the screw slider 104.

[0018] Preferably, the rope traction mechanism 1 further comprises a rope pressing block 111, which is an arc-shaped plate installed below the lead screw slider 104 to limit the rope 4 from slipping and prevent the rope from becoming tangled.

[0019] Preferably, the rope guiding mechanism 2 comprises a guide pulley support 201, a guide pulley 202, a guide pulley angle encoder 203, a rope guide connecting rod 204 and a rope indexing direction encoder 205;

[0020] The guide pulley support 201 is installed below the modular guide base 3 through a bearing and can rotate freely;

[0021] The guide pulley 202 is mounted on the guide pulley support 201 through its pulley shaft 2021 and the bearing and can rotate freely;

[0022] The rope guide connecting rod 204 is mounted on the guide pulley support 201 through a bearing and freely rotates coaxially with the guide pulley 202;

[0023] The rope 4 is introduced from the axial rope hole 2011 at the axial center above the guide pulley support 201, bypasses the guide pulley 202, and is then introduced into the rope guide link 204, and is led out from the front end of the rope guide link 204 to pull the parallel robot to move;

[0024] The guide pulley angle encoder 203 is installed on the guide pulley support 201 at one end of the pulley shaft 2021 to detect the swing angle parameter α of the guide pulley 202;

[0025] The rope index direction encoder 205 is installed on the guide pulley support 201 at the other end of the pulley shaft 2021 to detect the swing angle parameter β of the rope guide link 204;

[0026] The length of the rope and the change in the rope delivery angle are calculated by using the swing angle parameter α of the guide pulley 202 and the swing angle parameter β of the rope guide link 204 .

[0027] Preferably, the rope guide link 204 includes an L-shaped connecting block 2041, a front link 2042 and an auxiliary guide wheel 2043;

[0028] The two branches of one arm of the L-shaped connecting block 2041 are respectively installed on the pulley shaft 2021 on both sides of the guide pulley 202 and can rotate freely relative to the pulley shaft 2021; the other arm of the L-shaped connecting block 2041 extends forward to connect the front connecting rod 2042; the front connecting rod 2042 is provided with a connecting rod rope through hole 2044 at the symmetrical central axis;

[0029] An auxiliary guide wheel 2043 is provided on the outer side of the corner of the L-shaped connecting block 2041;

[0030] The rope 4 introduced by the guide pulley 202 is led out from the connecting rod rope hole 2044 of the front connecting rod 2042 to pull the parallel robot to move.

[0031] Preferably, the stator of the guide pulley angle encoder 203 is installed on one side of the guide pulley support 201; the rotor is installed on the end of the pulley shaft 2021 on this side and rotates synchronously with the pulley shaft 2021;

[0032] The stator of the rope index direction encoder 205 is installed on the other side of the guide pulley support 201, and the rotor is installed on the rope guide connecting rod 204 installed on the pulley shaft 2021 on this side, and rotates synchronously with the rope guide connecting rod 204.

[0033] Preferably, the modular guide base 3 is provided with a radial opening connected to the central rope through hole 303 .

[0034] A rope-pulling parallel robot uses the rope-pulling guiding system mentioned above.

[0035] Compared with the prior art, the rope-pulling guide system and the parallel robot of the rope-pulling parallel robot of the present invention adopt a modular structure, which is easy to install and replace. At the same time, the rope length and rope outlet angle can be measured, so that the rope-pulling parallel robot can complete more precise operation tasks. The modular lead-out point that can be quickly disassembled allows the rope-pulling parallel robot to quickly change its configuration, change the workspace and increase rigidity, and complete more complex operation tasks. The solution that can be modularly installed and has measurement capabilities can increase the accuracy of the robot and provide more task flexibility for the rope-pulling robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0037] Figure 1A schematic structural diagram of a rope-pulling guiding system for a rope-pulling parallel robot provided in an embodiment of the present invention;

[0038] Figure 2 A schematic diagram of a modular guide base structure of a cable-driven parallel robot according to an embodiment of the present invention Figure 1 ;

[0039] Figure 3 A schematic diagram of a modular guide base structure of a cable-driven parallel robot according to an embodiment of the present invention Figure 2 ;

[0040] Figure 4 A schematic diagram of the structure of a rope traction mechanism of a rope traction guiding system of a rope traction parallel robot is provided for an embodiment of the present invention Figure 1 ;

[0041] Figure 5 A schematic diagram of the structure of a rope traction mechanism of a rope traction guiding system of a rope traction parallel robot is provided for an embodiment of the present invention Figure 2 ;

[0042] Figure 6 A schematic diagram of the three-dimensional structure of a synchronization device of a rope-pulling guiding system of a rope-pulling parallel robot is provided for an embodiment of the present invention;

[0043] Figure 7 A schematic plan view of the structure of a synchronization device of a rope-pulling guiding system of a rope-pulling parallel robot is provided for an embodiment of the present invention;

[0044] Figure 8 A schematic diagram of the three-dimensional structure of a lead screw slider of a cable-pulling guide system of a cable-pulling parallel robot according to an embodiment of the present invention Figure 1 ;

[0045] Fig. 9 A schematic diagram of the three-dimensional structure of a lead screw slider of a cable-pulling guide system of a cable-pulling parallel robot according to an embodiment of the present invention Figure 2 ;

[0046] Fig.10 A schematic diagram of the installation structure of a transition pulley of a rope-pulling guide system of a rope-pulling parallel robot is provided for an embodiment of the present invention;

[0047] Fig.11 A schematic diagram of the installation structure of a rope guiding mechanism of a rope pulling guiding system of a rope pulling parallel robot is provided for an embodiment of the present invention;

[0048] Fig.12 A schematic diagram of the three-dimensional structure of a rope guiding mechanism of a rope traction guiding system of a rope traction parallel robot is provided for an embodiment of the present invention;

[0049] Fig.13 A schematic diagram of a rope guide connecting rod structure of a rope traction guide system of a rope traction parallel robot according to an embodiment of the present invention Figure 1 ;

[0050] Fig.14 A schematic diagram of a rope guide connecting rod structure of a rope traction guide system of a rope traction parallel robot according to an embodiment of the present invention Figure 2 ;

[0051] Fig.15 A schematic structural diagram of a guide pulley angle encoder of a rope-pulling guide system of a rope-pulling parallel robot is provided for an embodiment of the present invention;

[0052] Fig.16 A schematic structural diagram of a rope index output direction encoder of a rope traction guidance system of a rope traction parallel robot is provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0053] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in combination with the specific content of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments, which does not constitute a limitation of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of the present invention.

[0054] First, the terms that may be used in this article are explained as follows:

[0055] The term “and / or” means that either or both of them can be realized at the same time. For example, X and / or Y means both “X” or “Y” and “X and Y”.

[0056] The terms "include", "comprises", "contains", "has" or other descriptions with similar semantics should be interpreted as non-exclusive inclusion. For example, including certain technical feature elements (such as raw materials, components, ingredients, carriers, dosage forms, materials, dimensions, parts, components, mechanisms, devices, steps, procedures, methods, reaction conditions, processing conditions, parameters, algorithms, signals, data, products or products, etc.) should be interpreted as including not only certain technical feature elements explicitly listed, but also other technical feature elements known in the art that are not explicitly listed.

[0057] The term "consisting of..." means excluding any technical feature elements not explicitly listed. If this term is used in a claim, it will make the claim closed, so that it does not contain technical feature elements other than the technical feature elements explicitly listed, except for the conventional impurities related to them. If this term only appears in a clause of a claim, it only limits the elements explicitly listed in the clause, and the elements recorded in other clauses are not excluded from the overall claim.

[0058] Unless otherwise specified or limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example: it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this article can be understood according to specific circumstances.

[0059] The orientation or position relationship indicated by terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. are based on the orientation or position relationship shown in the drawings and are only for the convenience and simplification of description, and do not explicitly or implicitly indicate that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation of this document.

[0060] The technical solution provided by the present invention is described in detail below. The contents not described in detail in the embodiments of the present invention belong to the prior art known to professionals in the field. If the specific conditions are not specified in the embodiments of the present invention, the conditions are carried out according to the conventional conditions in the field or the conditions recommended by the manufacturer. If the manufacturer is not specified in the reagents or instruments used in the embodiments of the present invention, they are all conventional products that can be purchased commercially.

[0061] Embodiment 1

[0062] like Figure 1 A rope pulling and guiding system of a rope-pulling parallel robot comprises a rope pulling mechanism 1 and a rope guiding mechanism 2; the rope guiding mechanism 2 is installed on a frame fixed to the parallel robot through a modular guiding base 3.

[0063] The modularity here refers to the fact that the modular guide base 3 connected to the rack is connected by bolt connection and is provided with bolt group holes. Bolt group holes of the same size are also provided on the rack, so that the modular guide base 3 can be installed at different positions on the rack. At the same time, other components connected to the rack (such as cameras) use bolt group holes of the same size, and bolt group holes at different positions on the rack can also be used to achieve universal connection on the rack, and the installation components can achieve "modularity".

[0064] This general bolt connection method can also be referred to as a standard part connection. Figure 2 and Figure 3 The connecting angle plate on the right angle side of the modular guide base 3 is a standard part, which is provided with at least one group of first bolt holes 301. If there are multiple groups, the connection size is the same, and the group spacing of the multiple groups of first bolt holes 301 is also consistent or multiple, that is, the group spacing is n×d, d is the unit spacing, and n is a natural number. Square tubes are generally used on the frame, and multiple groups of bolt connection holes with the same spacing and connection size are also arranged on the square tube to correspond to the first bolt holes 301, that is, the bolt connection hole spacing d on the square tube is also 1 unit spacing. The modular guide base 3 can be connected to any position of the square tube of the external structure of the frame of the rope-pulled parallel robot through the connecting angle plate, and one or two rope guide mechanisms 2 are installed on the other side of the modular guide base 3. At the same time, the modular guide base 3 here can be clamped and fixed by bolt fixing clamps, which can make the installation of the modular guide base 3 more flexible and can adjust the position in a small range.

[0065] like Figure 4 and Figure 5 As shown, the rope traction mechanism 1 includes a driving device, a traction support 101 , a reel 102 , a rotating screw 103 and a screw slider 104 .

[0066] The traction support 101 is fixed on the frame of the parallel robot, and can be installed and fixed by bolting through the bolt holes at the bottom of the traction support 101. The specific structure belongs to the well-known technology and will not be repeated. The traction support 101 frame structure includes two side vertical plates on both sides. The reel 102 and the rotating screw 103 are installed in the traction support 101 in parallel with the axis. Specifically, they are installed on the inner side of the two side vertical plates through shaft system components such as bearings. The specific structure belongs to the well-known technology. For example, the shaft of the reel 102 is installed on the two side vertical plates of the traction support 101 through high-precision bearings, and the rotating screw 103 is also installed on the two side vertical plates of the traction support 101 through high-precision bearings. One end of the shaft of the reel 102 extends out of the side vertical plate to connect to the drive device, and the other end is connected to and drives the rotating screw 103 through a transmission mechanism; of course, one end of the rotating screw 103 can also extend out of the side vertical plate to connect to the drive device, and the other end is connected to and drives the reel 102 through a transmission mechanism. The detailed structure will not be repeated.

[0067] Meanwhile, in this example, the drum 102 is provided with a spiral groove, which is generally an inwardly concave arc or V-shaped. One end of the rope 4 is fixed in the groove of the drum 102 and is wound several times along the spiral.

[0068] The driving device includes a driving motor 114 and a reducer 115, etc. The driving motor 114 is installed on the body of the reducer 115 by screws, and the output shaft of the driving motor 114 is connected to the input shaft of the reducer 115. Specifically, a better way is that the output shaft of the driving motor 114 is inserted into the rigid coupling built into the reducer 115 and connected to the input shaft of the reducer 115 to ensure smooth transmission of power and avoid slipping. The reducer 115 is installed on the traction support 101 by screws. Specifically, the reducer 115 is installed on the outer side of the side vertical plate through a reducer bracket to reduce the vibration of the reducer 115. The output shaft of the reducer 115 is connected to the shaft of the drum 102 through the fixed coupling 116 and drives the drum 102 to rotate. The fixed coupling 116 is also a rigid coupling to ensure smooth power transmission and avoid slipping; the rope traction mechanism 1 described here also includes a synchronization device 109, which is installed between the drum 102 and the rotating screw 103, and can realize the synchronous rotation of the drum 102 and the rotating screw 103.

[0069] In this example, the reducer 115 can use a roller reducer, also known as a roller reducer, which is a mechanical device that achieves deceleration through roller transmission. Through its unique roller transmission method, it achieves a high-efficiency, high-load-bearing capacity deceleration effect.

[0070] In this example, the driving device is working, that is, the driving motor 114 works to drive the drum 102 and the rotating screw 103 to rotate synchronously through the reducer 115 and the coupling 116; the drum 102 rotates and the rotating screw 103 rotates synchronously at the same time, and the screw slider 104 reciprocates synchronously along the axial direction of the rotating screw 103; when the drum 102 rotates one circle, the screw slider 104 moves a distance on the rotating screw 103 that is equal to the center distance between adjacent sections of rope 4 wound on the drum 102; and the reciprocating direction of the screw slider 104 is consistent with the retraction and release direction of the rope 4.

[0071] Specifically, the transmission ratio i between the reel 102 and the rotating screw 103 is: i=p / d;

[0072] p: pitch of the rotating screw 103; d: center distance between adjacent sections of rope 4 on the drum 102.

[0073] The above design can ensure that the distance that the lead screw slider 104 moves on the rotating lead screw 103 when the drum 102 rotates one circle is equal to the center distance of the adjacent sections of the rope 4 wound on the drum 102. At the same time, the conventional setting of the spiral of the rope 4 winding and the rotating lead screw 103 is right-handed, and the synchronous rotation of the drum 102 and the rotating lead screw 103 in the same direction can ensure that the reciprocating direction of the lead screw slider 104 is consistent with the retracting and releasing direction of the rope 4. If the structural design is that the drum 102 and the rotating lead screw 103 rotate synchronously in the opposite direction, it is necessary that the spiral of the rope 4 winding and the rotating lead screw 103 is one left-handed and the other right-handed, so as to achieve the reciprocating direction of the lead screw slider 104 being consistent with the retracting and releasing direction of the rope 4. The specific technical personnel in this field can design it by themselves, and no further description is given.

[0074] The best solution is that the transmission ratio i between the reel 102 and the rotating screw 103 is 1, which can be specifically as follows: Figure 6 and Figure 7 As shown, the synchronization device 109 includes two toothed pulleys 1091 of the same size, which are respectively installed on the shaft of the reel 102 and the rotating screw 103, specifically, the shaft ends of the reel 102 and the rotating screw 103 extending out of the side plate of the traction support 101, and the two toothed pulleys 1091 are connected and synchronously transmitted through a toothed belt 1902; the transmission ratio i between the reel 102 and the rotating screw 103 is 1. In this example, the synchronization device 109 also includes a tensioning pulley 1093, which is used to tension the toothed belt 1902 so that the reel 102 and the rotating screw 103 rotate synchronously without the occurrence of belt slippage or belt derailment. The structure also includes the driving shaft, driven shaft and tensioning wheel shaft of the pulley, as well as shaft system installation parts such as bearings, and the outer shell 1094, which are all common structures and will not be repeated. The outer shell 1094 can be fixed to the outer side of the side plate by screws.

[0075] Driven by the synchronization device 109 with a transmission ratio i of 1, the rotating lead screw 103 can rotate smoothly to drive the lead screw slider 104 to move. When the drum 102 rotates one circle, the rotating lead screw 103 also rotates one circle synchronously. Since the pitch p of the rotating lead screw 103 in this example is equal to the center distance d of the adjacent sections of the rope 4 on the drum 102, that is: p=d; the pitch p of the lead screw slider 104 driven by the rotating lead screw 103 is exactly equal to the center distance d of the adjacent sections of the rope 4 on the drum 102. In order to ensure that the rope 4 does not interfere with the rope, the drum 102 is provided with a spiral groove, which is generally an inward concave arc or V-shaped. The width of the groove also reflects the center distance d of the adjacent sections of the rope 4 on the drum 102, that is, it is equal to the pitch p of the rotating lead screw 103. Such a setting can ensure that the rope 4 is always drawn out from the drum 102 in the vertical direction.

[0076] like Figure 8 and Fig. 9 As shown in reference 3, the screw slider 104 is installed with a drum pulley 107 through a swing arm 106, and the rope 4 wound on the drum 102 is guided and led out to the rope guide mechanism through the drum pulley 107; and a pressure sensor 108 for measuring the rope tension of the rope 4 is provided between the screw slider 104 and the swing arm 106; specifically, the middle part of the swing arm 106 is hinged to the outer end of the screw slider 104, specifically, it is hinged to the hanging plate 1042 extending and fixed from the outer end of the screw slider 104, and the hanging plate 1042 has two hanging ears, which are connected to the middle part of the swing arm 106 through a pin shaft to achieve hinged connection. The lower end of the swing arm 106 is installed with a drum pulley 107, which is also installed through a pin shaft, and the drum pulley 107 can rotate freely. Structurally, the rope introduction side of the drum pulley 107 is always aligned with the rope outlet side of the drum 102, ensuring that the rope 4 led out from the drum 102 is introduced into the drum pulley 107 in a tangential direction along the vertical direction, and a guide wheel 105 is installed on the hanging plate 1042 at the place where the rope 4 is introduced into the drum pulley 107 to prevent the rope 4 from escaping. The rope 4 bypasses the drum pulley 107 and is led out above the drum pulley 107 along a horizontal tangential direction parallel to the axis of the drum 102; a horizontal swing arm rope outlet hole 1601 can be provided on the swing arm 106, and the rope 4 is led out from the swing arm rope outlet hole 1601 to the rope guiding mechanism.

[0077] In this example, if Figure 8 and Fig. 9As shown, a pressure sensor 108 is installed between the upper end of the swing arm 106 and the lead screw slider 104, that is, installed between the upper end of the swing arm 106 and the hanging plate 1042, and the pressure sensor 108 measures the rope tension of the rope 4. The specific principle is that pulling the rope 4 will cause the drum pulley 107 to be subjected to radial force and have a tendency to move radially. Through a lever formed by the swing arm 106, the pressure sensor 108 can be used to measure the pressure below the swing arm 106 above the swing arm 106 by using the lever principle, so as to achieve the measurement of the rope tension.

[0078] Rope force refers to the tension on the rope. Measuring it can monitor the force on the rope at all times to prevent the rope from being broken due to excessive tension. Alternatively, the change in the tension on the rope can be used to sense whether the working state of the terminal robot is unstable.

[0079] The pressure sensor 108 adopts an S-shaped structure and can be used for both tension and compression. It converts the tiny deformation caused by the pressure / tension signals on both sides into processable electrical signals and outputs them after processing. It has a wide range, simple structure, high accuracy, good sensitivity, fast response time, long life, and can operate stably in various environments. After adding a transmitter, it has a good filtering effect and can output standard signals. It is a commonly used force sensor.

[0080] In this example, if Figure 4 As shown, reference Figure 8 and Fig. 9 The rope traction mechanism 1 further comprises two guide shafts 110, the axes of which are parallel to the rotating lead screw 103 and symmetrically mounted on the traction support 101 on both sides of the rotating lead screw 103. The lead screw slider 104 is provided with two guide holes 1041, and the guide shafts 110 cooperate with the guide holes 1041 to guide the lead screw slider 104. The guide shaft 110 acts as a guide rail, and the guide shaft 110 passes through the two guide holes 1041, and the two ends of the guide shaft 110 are respectively fixed on the two side vertical plates of the traction support 101. The lead screw slider 104 is guided to move by the guide shaft 110, and the rotating lead screw 103 only provides the power for its movement, which can reduce the force on the lead screw slider 104, improve the system accuracy, and reduce its wear.

[0081] In this example, if Figure 4 As shown, reference Figure 8 and Fig. 9The rope traction mechanism 1 also includes a rope pressure block 111. The rope pressure block 111 is an arc-shaped plate installed below the lead screw slider 104 to limit the rope 4 from slipping and prevent the rope from being tangled. The rope pressure block 111 is an arc-shaped plate mainly because its lower surface is arc-shaped. Specifically, it is installed between the lead screw slider 104 and the drum 102. The rope pressure block 111 and the drum 102 maintain a very small gap and do not contact the drum 102. At the same time, it also prevents the rope 4 from contacting the lead screw slider 104 to produce excess friction. The arc surface can well constrain the rope 4 and minimize the friction. At the same time, the gap cannot be greater than the diameter of the rope 4 to prevent the rope 4 from slipping. In the case where the drum 102 has a spiral groove, the rope pressure block 111 is installed between the grooves of the lead screw slider 104 and the drum 102. The rope pressure block 111 and the drum 102 maintain a very small gap, and the rope 4 is in the groove, which further prevents the rope 4 from slipping and can prevent the rope 4 from being tangled.

[0082] In this example, if Figure 4 As shown, reference Fig.10 The rope traction mechanism 1 further comprises a transition pulley 112, which is mounted on the traction support 101 through a transition pulley bracket 113. Specifically, the transition pulley 112 is mounted on the transition pulley bracket 113 through a pin shaft and rotates freely, and the transition pulley bracket 113 is mounted on the traction support 101 through a screw. The rope 4 guided by the drum pulley 107 is introduced into the rope guiding mechanism 2 through the transition pulley 112. Specifically, the transition pulley 112 is mounted on the outer side of the side plate of the traction support 101 on the rope exit side of the drum 102. The lower tangent of the transition pulley 112 is in line with the side plate rope outlet hole 1011 and the swing arm rope outlet hole 1601 on the side plate. The rope 4 is transformed from the drum pulley 107 into a horizontal outlet and passes through the swing arm rope outlet hole 1601 and the side plate rope outlet hole 1011, then bypasses the transition pulley 112 and goes upward again to exit from the transition rope outlet 1121 hole. At the same time, a plurality of guide wheels 105 are installed on the periphery of the transition pulley 112, so that the rope 4 always comes out close to the transition pulley 112.

[0083] The rope guiding mechanism 2 is fixed on the frame of the parallel robot, receives the rope 4 of the rope traction mechanism 1, and guides and controls the operation of the parallel robot; a guiding measuring device is also provided to measure the length change of the rope 4. Specifically, Fig.11 and Fig.12 As shown, the rope guiding mechanism 2 includes a modular guide pulley support 201, a guide pulley 202, a guide pulley angle encoder 203, a rope guide connecting rod 204 and a rope index output direction encoder 205. The guide measuring device here includes the guide pulley angle encoder 203 and the rope index output direction encoder 205.

[0084] The modularization here means that the installation of the guide pulley support 201 and the modular guide base 3 is also modularized. It has been previously recorded that one or two rope guide mechanisms 2 are installed on the other side of the modular guide base 3. Figure 2 and Figure 3 There are two groups of second bolt holes 302 on the modular guide base 3, each of which is equipped with a modular rope guide mechanism 2. Considering that the bolt hole groups may be inconsistent, a modular rope guide mechanism 2 can be installed by adding an adapter plate, or one rope guide mechanism 2 can be installed and the other can be installed with other equipment, such as a camera. As long as the other equipment and the rope guide mechanism 2 use bolt connection holes of the same size, the modular connection of the rope guide mechanism 2 here can be achieved.

[0085] The modular guide pulley support 201 and other modular equipment interfaces are of standardized specifications. They can be quickly disassembled and assembled by inserting them and connecting them with bolts. Multiple guide pulley supports 201 can be installed on the structural square tube of the parallel robot's frame, so the guide pulley support 201 can be quickly disassembled and reinstalled to other locations. A modular guide base 3 contains two identical modular guide pulley support 201 installation holes, so it has the function of quickly disassembling the guide pulley support 201.

[0086] At the same time, the modular guide base 3 can be provided with a radial opening connected to the central rope through hole 303. When the installation is completed, the end of the opening and the axis of the guide pulley support 201 are collinear, so the rope 4 can pass through the central rope through hole 303 without friction; when the rope guiding mechanism 2 is removed, the rope 4 can be pulled out along the opening direction. Therefore, when replacing the rope guiding mechanism 2 to other modular guide bases 3, there is no need to re-thread the rope, which facilitates the rapid replacement of the lead-out point position.

[0087] Through the modular design of two places, it is easy to install and replace. The corresponding equipment installed on the parallel robot can be installed using this modular design, with a unified structure, reducing design and manufacturing costs.

[0088] The guide pulley support 201 is installed under the modular guide base 3 through a bearing and can rotate freely; specifically, it can be connected to a set of second bolt holes 302 through a flange, and a low-friction roller bearing and a guide pulley support 201 are installed in the inner hole of the flange. The specific structure can be designed by referring to the attached drawings and will not be repeated here.

[0089] The guide pulley 202 is mounted on the guide pulley support 201 through its pulley shaft 2021 and bearings and can rotate freely; specifically, the guide pulley support 201 extends two support plates, and the guide pulley 202 is mounted on the support plates through the pulley shaft 2021 and the bearings, and the guide pulley 202 can rotate freely. At the same time, the axis of the axis rope hole 2011 at the axis center of the guide pulley support 201 described here is tangent to the outer circle of the guide pulley 202.

[0090] The rope guide link 204 is mounted on the guide pulley support 201 through a bearing and rotates freely coaxially with the guide pulley 202; within the working angle of the rope guide link 204, the rope guide link 204 can rotate smoothly without collision. Fig.13 and Fig.14 As shown, the rope guide link 204 comprises an L-shaped connecting block 2041, a front connecting rod 2042 and an auxiliary guide wheel 2043; the L-shaped connecting block 2041 has two arms which are respectively mounted on the pulley shafts 2021 on both sides of the guide pulley 202 and can rotate freely relative to the pulley shafts 2021; specifically, the two arms of the arm are respectively provided with bearing holes for mounting bearings, and the bearings are mounted on the pulley shafts 2021, so that the L-shaped connecting block 2041 can rotate freely relative to the pulley shafts 2021. The other arm of the L-shaped connecting block 2041 extends forward to connect the front connecting rod 2042; the front connecting rod 2042 is provided with a connecting rod rope through hole 2044 at the symmetrical central axis; the front connecting rod 2042 is a frame structure, the rear ends of the two supporting rods are connected to the L-shaped connecting block 2041, the front end and the middle are provided with connecting blocks, and the center of the connecting block is provided with a connecting rod rope through hole 2044 which is consistent with the axial direction of the front connecting rod 2042.

[0091] At the same time, an auxiliary guide wheel 2043 is provided at the outer side of the corner of the L-shaped connecting block 2041; the auxiliary guide wheel 2043 serves to guide and prevent the rope 4 from slipping off the guide pulley 202. The rope 4 introduced by the rope traction mechanism 1 is introduced through the central rope through hole 303 of the modular guide base 3 and the axial rope hole 2011 at the upper axis of the guide pulley support 201, bypasses the guide pulley 202, and is then introduced into the rope guide link 204, and is led out from the front end of the rope guide link 204 to pull the parallel robot to move; specifically, the rope 4 introduced by the guide pulley 202 is led out from the link rope through hole 2044 of the front link 2042 to pull the parallel robot to move.

[0092] In this example, the guide pulley angle encoder 203 is installed on the guide pulley support 201 at one end of the pulley shaft 2021. Specifically, Fig.15As shown, the first stator 2031 of the guide pulley angle encoder 203 is installed on one side of the guide pulley support 201; it can be installed by screws, and the first rotor 2032 is installed on the end of the pulley shaft 2021 on this side and rotates synchronously with the pulley shaft 2021; it can be installed by screws or connected by a connector suitable for fixed connection on the shaft, and the guide pulley angle encoder 203 detects the swing angle parameter α of the guide pulley 202; here α is the rotation angle of the guide pulley 202 itself, and the angle can be greater than 360 degrees. In this article, α is in radians and can be greater than 2π; the length LS of the rope it reflects is:

[0093] LS = α × r,

[0094] Wherein: α is a unit radian; r is the distance from the center of the rope 4 wound on the guide pulley 202 to the guide pulley 202; the radius of the bottom of the groove of the guide pulley 202 plus the radius of the rope 4 can also be used.

[0095] The rope index direction encoder 205 is installed on the guide pulley support 201 at the other end of the pulley shaft 2021. Specifically, Fig.16 As shown, the second stator 2051 of the rope index output direction encoder 205 is installed on the other side of the guide pulley support 201 and can be installed by screws. The second rotor 2052 is installed on the rope guide link 204 installed on the pulley shaft 2021 on this side and can also be installed by screws. The rotor and the rope guide link 204 rotate synchronously; the rope index output direction encoder 205 detects the swing angle parameter β of the rope guide link 204; here β is the rotation angle of the rope guide link 204 relative to the guide pulley support 201, the angle will not reach 360 degrees, generally below 180 degrees, which directly reflects the change in the rope output angle, and the spatial motion parameters of the rope can be obtained in combination with the structural dimensions of the rope guide link 204.

[0096] In summary, the present invention realizes modular installation and real-time data monitoring capability of the lead-out point by modularly designing the rope index lead-out point structure of the modular guide base 3 and the guide pulley support 201, and adding the encoder arrangement; realizes accurate release of the rope and precise control of the rope tension by modularly designing the drive device and the rope transmission chain and adding the lead screw slider design. The present invention has a simple structure, is convenient to use, is easy to install, and has good practicality.

[0097] Embodiment 2

[0098] A rope-pulled parallel robot uses the rope-pulling guidance system described in the first embodiment.

[0099] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims. The information disclosed in the background technology section of this article is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as an admission or in any form that the information constitutes prior art known to those skilled in the art.

Claims

1. A rope traction and guidance system for a rope-traction parallel robot, comprising a rope traction mechanism (1) and a rope guidance mechanism (2); characterized in that: The rope traction mechanism (1) comprises a driving device, a traction support (101), a drum (102), a rotating lead screw (103) and a lead screw slider (104); the traction support (101) is fixed on a frame, the drum (102) and the rotating lead screw (103) are installed in the traction support (101) with their axes parallel to each other, and the driving device drives the drum (102) and the rotating lead screw (103) to rotate synchronously when the drum (102) rotates one circle, and the lead screw slider (104) moves synchronously along the axial direction of the rotating lead screw (103) and the retracting and releasing direction of the rope (4) by a distance equal to the center distance between adjacent sections of the rope (4) wound on the drum (102); The screw slider (104) is installed with a drum pulley (107) via a swing arm (106), and the rope (4) wound on the drum (102) is guided by the drum pulley (107) to the rope guiding mechanism (2); and a pressure sensor (108) for measuring the rope force of the rope (4) is provided between the screw slider (104) and the swing arm (106); The rope guiding mechanism (2) is fixed to the frame via a modular guiding base (3), receives the rope (4) of the rope traction mechanism (1), and guides and controls the operation of the parallel robot; a guiding measuring device is also provided to measure the length of the rope (4) and the change in the rope outlet angle.

2. The cable-pulling guiding system of the cable-pulling parallel robot according to claim 1, characterized in that: The rope traction mechanism (1) further comprises a synchronization device (109) installed between the drum (102) and the rotating screw (103) to achieve synchronous rotation of the drum (102) and the rotating screw (103); The transmission ratio i between the reel (102) and the rotating screw (103) is: i=p / d; p: pitch of the rotating screw (103); d: the center distance between adjacent sections of rope (4) on the drum (102).

3. The cable-pulling guiding system of the cable-pulling parallel robot according to claim 1 or 2, characterized in that: The middle part of the swing arm (106) is hinged to the outer end of the lead screw slider (104), and a drum pulley (107) is installed at the lower end. The rope (4) led out from the drum (102) is introduced into the drum pulley (107) in a tangential direction along the vertical direction, bypasses the drum pulley (107), and is led out in a horizontal tangential direction parallel to the axis of the drum (102); A pressure sensor (108) is installed between the upper end of the swing arm (106) and the lead screw slider (104) to measure the rope tension of the rope (4).

4. The cable-pulling guiding system of the cable-pulling parallel robot according to claim 1 or 2, characterized in that: The rope traction mechanism (1) further comprises two guide shafts (110) whose axes are parallel to the rotating screw (103) and symmetrically mounted on the traction supports (101) on both sides of the rotating screw (103); the screw slider (104) is provided with two guide holes (1041); the guide shafts (110) cooperate with the guide holes (1041) to guide the screw slider (104).

5. The cable-pulling guiding system of the cable-pulling parallel robot according to claim 1 or 2, characterized in that: The rope traction mechanism (1) further comprises a rope pressure block (111), which is an arc-shaped plate installed below the lead screw slider (104) to limit the rope (4) from slipping and prevent the rope from becoming tangled.

6. The cable-pulling guiding system of the cable-pulling parallel robot according to claim 1, characterized in that: The rope guiding mechanism (2) comprises a guide pulley support (201), a guide pulley (202), a guide pulley angle encoder (203), a rope guiding connecting rod (204) and a rope indexing direction encoder (205); The guide pulley support (201) is installed below the modular guide base (3) via a bearing and is freely rotatable; The guide pulley (202) is mounted on the guide pulley support (201) via its pulley shaft (2021) and the bearing and is freely rotatable; The rope guide connecting rod (204) is mounted on the guide pulley support (201) via a bearing and freely rotates coaxially with the guide pulley (202); The rope (4) is introduced through the axial rope hole (211) at the axial center above the guide pulley support (201), bypasses the guide pulley (202), and is then introduced into the rope guide connecting rod (204), and is led out from the front end of the rope guide connecting rod (204) to pull the parallel robot to move; The guide pulley angle encoder (203) is mounted on the guide pulley support (201) at one end of the pulley shaft (221) to detect the swing angle parameter α of the guide pulley (202); The rope index direction encoder (205) is installed on the guide pulley support (201) at the other end of the pulley shaft (221) to detect the swing angle parameter β of the rope guide connecting rod (204); The length of the rope and the change in the rope output angle are calculated by using the swing angle parameter α of the guide pulley (202) and the swing angle parameter β of the rope guide link (204).

7. The cable-pulling guiding system of the cable-pulling parallel robot according to claim 6, characterized in that: The rope guide connecting rod (204) comprises an L-shaped connecting block (2041), a front connecting rod (2042) and an auxiliary guide wheel (2043); The two branches of one arm of the L-shaped connecting block (2041) are respectively mounted on the pulley shafts (221) on both sides of the guide pulley (202) and are freely rotatable relative to the pulley shafts (221); the other arm of the L-shaped connecting block (2041) extends forward to connect with the front connecting rod (2042); a connecting rod rope through hole (2044) is provided at the symmetrical central axis of the front connecting rod (2042); An auxiliary guide wheel (2043) is provided on the outer side of the corner of the L-shaped connection block (2041); The rope (4) introduced by the guide pulley (202) is led out through the connecting rod rope hole (2044) of the front connecting rod (2042) to pull the parallel robot to move.

8. The cable-pulling guiding system of the cable-pulling parallel robot according to claim 6 or 7, characterized in that: The stator of the guide pulley angle encoder (203) is mounted on one side of the guide pulley support (201); the rotor is mounted on the end of the pulley shaft (2021) on this side and rotates synchronously with the pulley shaft (2021); The stator of the rope index direction encoder (205) is installed on the other side of the guide pulley support (201), and the rotor is installed on the rope guide connecting rod (204) installed on the pulley shaft (2021) on this side, and rotates synchronously with the rope guide connecting rod (204).

9. The cable-pulling guiding system of the cable-pulling parallel robot according to claim 1, 2, 6 or 7, characterized in that: The modular guide base (3) is provided with a radial opening connected to a central rope through hole (303).

10. A rope-driven parallel robot, characterized in that: A rope-pulling guiding system for a rope-pulling parallel robot using any one of claims 1 to 9.

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